diff --git a/.github/workflows/ci-tests.yml b/.github/workflows/ci-tests.yml
index c7596c29c..fadbf8838 100644
--- a/.github/workflows/ci-tests.yml
+++ b/.github/workflows/ci-tests.yml
@@ -7,80 +7,80 @@ on:
       - develop
   pull_request:
     branches:
-      - '**'
+      - "**"
 
 jobs:
   check-commit-msg:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
-    - name: Validate PR commits
-      if: github.event_name == 'pull_request'
-      run: bash ./utilities/ci/test-commit-msg.sh ${{ github.event.pull_request.base.sha }} ${{ github.event.pull_request.head.sha }}
+      - name: Validate PR commits
+        if: github.event_name == 'pull_request'
+        run: bash ./utilities/ci/test-commit-msg.sh ${{ github.event.pull_request.base.sha }} ${{ github.event.pull_request.head.sha }}
 
   check-format:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-      with:
-        fetch-depth: 0
-
-    - name: Restore clang-tools
-      id: cache-clang-tools
-      uses: actions/cache@v3
-      with:
-        path: clang-tools
-        key: clang-tools
-
-    - name: Check formatting
-      env:
-        CACHED: ${{ steps.cache-clang-tools.outputs.cache-hit }}
-        SHA_BASE: ${{ github.event.pull_request.base.sha }}
-      run: |
-        if [ ! "${CACHED}" = "true" ]; then
-          bash ./utilities/ci/setup-clang-tools.sh;
-        fi
-        PATH="$PATH:$(pwd)/clang-tools"
-        # Check event type here so ci chaching can take effect
-        if [ ${{ github.event_name }} = 'pull_request' ]; then
-          bash ./utilities/ci/format-checker.sh ${SHA_BASE}
-        fi
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Restore clang-tools
+        id: cache-clang-tools
+        uses: actions/cache@v3
+        with:
+          path: clang-tools
+          key: clang-tools
+
+      - name: Check formatting
+        env:
+          CACHED: ${{ steps.cache-clang-tools.outputs.cache-hit }}
+          SHA_BASE: ${{ github.event.pull_request.base.sha }}
+        run: |
+          if [ ! "${CACHED}" = "true" ]; then
+            bash ./utilities/ci/setup-clang-tools.sh;
+          fi
+          PATH="$PATH:$(pwd)/clang-tools"
+          # Check event type here so ci chaching can take effect
+          if [ ${{ github.event_name }} = 'pull_request' ]; then
+            bash ./utilities/ci/format-checker.sh ${SHA_BASE}
+          fi
 
   static-checks:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-      with:
-        fetch-depth: 0
-
-    - name: Restore clang-tools
-      id: cache-clang-tools
-      uses: actions/cache@v3
-      with:
-        path: clang-tools
-        key: clang-tools
-
-    - name: Check formatting
-      env:
-        CACHED: ${{ steps.cache-clang-tools.outputs.cache-hit }}
-        SHA_BASE: ${{ github.event.pull_request.base.sha }}
-      run: |
-        if [ ! "${CACHED}" = "true" ]; then
-          bash ./utilities/ci/setup-clang-tools.sh;
-        fi
-        PATH="$PATH:$(pwd)/clang-tools"
-        # Check event type here so ci chaching can take effect
-        if [ ${{ github.event_name }} = 'pull_request' ]; then
-          bash ./utilities/ci/static-analyzer.sh ${SHA_BASE}
-        fi
-    - name: Upload result
-      uses: actions/upload-artifact@v3
-      with:
-        name: clang-tidy-result
-        path: anaylysis.results
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Restore clang-tools
+        id: cache-clang-tools
+        uses: actions/cache@v3
+        with:
+          path: clang-tools
+          key: clang-tools
+
+      - name: Check formatting
+        env:
+          CACHED: ${{ steps.cache-clang-tools.outputs.cache-hit }}
+          SHA_BASE: ${{ github.event.pull_request.base.sha }}
+        run: |
+          if [ ! "${CACHED}" = "true" ]; then
+            bash ./utilities/ci/setup-clang-tools.sh;
+          fi
+          PATH="$PATH:$(pwd)/clang-tools"
+          # Check event type here so ci chaching can take effect
+          if [ ${{ github.event_name }} = 'pull_request' ]; then
+            bash ./utilities/ci/static-analyzer.sh ${SHA_BASE}
+          fi
+      - name: Upload result
+        uses: actions/upload-artifact@v3
+        with:
+          name: clang-tidy-result
+          path: anaylysis.results
 
   build-firmwares:
     needs: check-format
@@ -93,60 +93,65 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: recursive
-
-    - name: Restore build-tools
-      id: cache-build-tools
-      uses: actions/cache@v3
-      with:
-        path: build-tools
-        key: build-tools
-
-    - name: Restore arm-gcc
-      if: matrix.platform == 'device'
-      id: cache-arm-gcc
-      uses: actions/cache@v3
-      with:
-        path: arm-gcc
-        key: arm-gcc
-
-    - name: Restore proto-tools
-      id: cache-proto-tools
-      uses: actions/cache@v3
-      with:
-        path: proto-tools
-        key: proto-tools
-
-    - name: Install target dependencies
-      if: matrix.platform == 'device'
-      env:
-        CACHED: ${{ steps.cache-arm-gcc.outputs.cache-hit }}
-        PROTO_CACHED: ${{ steps.cache-proto-tools.outputs.cache-hit }}
-      run: |
-        if [ ! "${CACHED}" = "true" ]; then
-          bash ./utilities/ci/setup-arm-gcc.sh;
-        fi
-        if [ ! "${PROTO_CACHED}" = "true" ]; then
-          bash ./utilities/ci/setup-protoc.sh;
-        fi
-        pip install -r utilities/script/requirements.txt
-
-    - name: Install simulator dependencies
-      if: matrix.platform == 'simulator'
-      run: sudo apt update && sudo apt install libsdl2-dev --no-install-recommends -y
-
-    - name: Build binaries
-      env:
-        CACHED: ${{ steps.cache-build-tools.outputs.cache-hit }}
-      run: |
-        if [ ! "${CACHED}" = "true" ]; then
-          bash ./utilities/ci/setup-build-tools.sh;
-        fi
-        pip install -r vendor/nanopb/extra/requirements.txt
-        PATH="$PATH:$(pwd)/build-tools:$(pwd)/arm-gcc/bin:$(pwd)/proto-tools/bin"
-        ./utilities/build.sh -u -f ${{ matrix.firmware }} -t ${{ matrix.target }} -p ${{ matrix.platform }}
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.9"
+          cache: "pip"
+
+      - name: Restore build-tools
+        id: cache-build-tools
+        uses: actions/cache@v3
+        with:
+          path: build-tools
+          key: build-tools
+
+      - name: Restore arm-gcc
+        if: matrix.platform == 'device'
+        id: cache-arm-gcc
+        uses: actions/cache@v3
+        with:
+          path: arm-gcc
+          key: arm-gcc
+
+      - name: Restore proto-tools
+        id: cache-proto-tools
+        uses: actions/cache@v3
+        with:
+          path: proto-tools
+          key: proto-tools
+
+      - name: Install target dependencies
+        if: matrix.platform == 'device'
+        env:
+          CACHED: ${{ steps.cache-arm-gcc.outputs.cache-hit }}
+          PROTO_CACHED: ${{ steps.cache-proto-tools.outputs.cache-hit }}
+        run: |
+          if [ ! "${CACHED}" = "true" ]; then
+            bash ./utilities/ci/setup-arm-gcc.sh;
+          fi
+          if [ ! "${PROTO_CACHED}" = "true" ]; then
+            bash ./utilities/ci/setup-protoc.sh;
+          fi
+          pip install -r utilities/script/requirements.txt
+
+      - name: Install simulator dependencies
+        if: matrix.platform == 'simulator'
+        run: sudo apt update && sudo apt install libsdl2-dev --no-install-recommends -y
+
+      - name: Build binaries
+        env:
+          CACHED: ${{ steps.cache-build-tools.outputs.cache-hit }}
+        run: |
+          if [ ! "${CACHED}" = "true" ]; then
+            bash ./utilities/ci/setup-build-tools.sh;
+          fi
+          pip install -r vendor/nanopb/extra/requirements.txt
+          PATH="$PATH:$(pwd)/build-tools:$(pwd)/arm-gcc/bin:$(pwd)/proto-tools/bin"
+          ./utilities/build.sh -u -f ${{ matrix.firmware }} -t ${{ matrix.target }} -p ${{ matrix.platform }}
 
   run-unit-tests:
     needs: check-format
@@ -160,31 +165,36 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: recursive
-
-    - name: Restore build-tools
-      id: cache-build-tools
-      uses: actions/cache@v3
-      with:
-        path: build-tools
-        key: build-tools
-
-    - name: Install simulator dependencies
-      run: sudo apt update && sudo apt install libsdl2-dev --no-install-recommends -y
-
-    - name: Run tests
-      env:
-        CACHED: ${{ steps.cache-build-tools.outputs.cache-hit }}
-      run: |
-        if [ ! "${CACHED}" = "true" ]; then
-          bash ./utilities/ci/setup-build-tools.sh;
-        fi
-        PATH="$PATH:$(pwd)/build-tools"
-        pip install -r vendor/nanopb/extra/requirements.txt
-        # Ignore any non-zero exits from simulator run using '|| true'
-        bash ./utilities/run_unit_tests.sh -f ${{ matrix.firmware }} -p ${{ matrix.platform }} > test_results.txt || true
-        cat test_results.txt
-        # Unity prints "OK" if all tests pass, "FAIL" if tests fail; return 1 to indicate failure
-        if [ ! "$(tail -n 1 test_results.txt)" = "OK" ]; then exit 1; fi
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.9"
+          cache: "pip"
+
+      - name: Restore build-tools
+        id: cache-build-tools
+        uses: actions/cache@v3
+        with:
+          path: build-tools
+          key: build-tools
+
+      - name: Install simulator dependencies
+        run: sudo apt update && sudo apt install libsdl2-dev --no-install-recommends -y
+
+      - name: Run tests
+        env:
+          CACHED: ${{ steps.cache-build-tools.outputs.cache-hit }}
+        run: |
+          if [ ! "${CACHED}" = "true" ]; then
+            bash ./utilities/ci/setup-build-tools.sh;
+          fi
+          PATH="$PATH:$(pwd)/build-tools"
+          pip install -r vendor/nanopb/extra/requirements.txt
+          # Ignore any non-zero exits from simulator run using '|| true'
+          bash ./utilities/run_unit_tests.sh -f ${{ matrix.firmware }} -p ${{ matrix.platform }} > test_results.txt || true
+          cat test_results.txt
+          # Unity prints "OK" if all tests pass, "FAIL" if tests fail; return 1 to indicate failure
+          if [ ! "$(tail -n 1 test_results.txt)" = "OK" ]; then exit 1; fi